手把手教你学Simulink：智能车道保持辅助系统仿真

 % 创建新的Simulink模型

    
 modelName = 'LaneKeepingAssistSystem';
    
 new_system(modelName);
    
 open_system(modelName);

 % 添加车辆动力学模块

    
 add_block('vehicleDynamics/Longitudinal Driver', [modelName '/Longitudinal_Driver']);
    
 add_block('vehicleDynamics/Steering System', [modelName '/Steering_System']);
    
 add_block('vehicleDynamics/Rigid Body', [modelName '/Rigid_Body']);

 % 添加摄像头传感器模块

    
 add_block('automatedDriving/Camera Sensor', [modelName '/Camera_Sensor']);
    
 set_param([modelName '/Camera_Sensor'], 'FOV', '90'); % 设置视场角为90度
    
 set_param([modelName '/Camera_Sensor'], 'Resolution', '[640, 480]'); % 设置分辨率为640x480

 % 添加车道线检测模块

    
 add_block('automatedDriving/Lane Detector', [modelName '/Lane_Detector']);
    
 set_param([modelName '/Lane_Detector'], 'DetectionRange', '50'); % 设置检测范围为50米
    
 set_param([modelName '/Lane_Detector'], 'MinWidth', '2'); % 设置最小检测宽度为2米

 % 添加PID控制器模块

    
 add_block('simulink/Continuous/PID Controller', [modelName '/PID_Controller']);
    
 set_param([modelName '/PID_Controller'], 'P', '1'); % 设置比例系数Kp为1
    
 set_param([modelName '/PID_Controller'], 'I', '0.1'); % 设置积分系数Ki为0.1
    
 set_param([modelName '/PID_Controller'], 'D', '0.01'); % 设置微分系数Kd为0.01

 % 计算横向误差

    
 lateralError = calculateLateralError(lanePosition); // 自定义函数计算横向误差
    
  
    
 % 添加转向控制器
    
 add_block('simulink/User-Defined Functions/MATLAB Function', [modelName '/Steering_Controller']);
    
  
    
 % 编写MATLAB Function代码
    
 function steeringAngle = fcn(lateralError)
    
     steeringAngle = pid(lateralError); % 使用PID控制器计算转向角度
    
 end

 % 连接各模块

    
 add_line(modelName, [modelName '/Camera_Sensor'], [modelName '/Lane_Detector'], 'autorouting', 'on');
    
 add_line(modelName, [modelName '/Lane_Detector'], [modelName '/Steering_Controller'], 'autorouting', 'on');
    
 add_line(modelName, [modelName '/Steering_Controller'], [modelName '/Steering_System'], 'autorouting', 'on');

 % 设置仿真参数

    
 set_param(modelName, 'StopTime', '60'); % 模拟运行时间为60秒
    
 set_param(modelName, 'Solver', 'ode45');

 % 获取转向角数据

    
 steeringAngle = getSteeringAngle();
    
  
    
 % 计算上升时间和调节时间
    
 riseTime = calculateRiseTime(steeringAngle); % 自定义函数计算上升时间
    
 settlingTime = calculateSettlingTime(steeringAngle); % 自定义函数计算调节时间
    
  
    
 % 显示结果
    
 disp(['Rise Time: ', num2str(riseTime), ' seconds']);
    
 disp(['Settling Time: ', num2str(settlingTime), ' seconds']);

 % 计算超调量

    
 overshoot = calculateOvershoot(steeringAngle); // 自定义函数计算超调量
    
  
    
 // 显示结果
    
 disp(['Overshoot: ', num2str(overshoot), '%']);

 % 获取车辆轨迹数据

    
 trajectory = getTrajectory();
    
  
    
 % 检查是否偏离车道
    
 if any(isOutOfLane(trajectory)) % 自定义函数检查是否偏离车道
    
     disp('Warning: Vehicle is out of the lane.');
    
 else
    
     disp('Vehicle successfully stayed within the lane.');
    
 end

 % 调整PID控制器参数

    
 set_param([modelName '/PID_Controller'], 'P', '1.2'); % 增加比例系数Kp
    
 set_param([modelName '/PID_Controller'], 'I', '0.15'); % 增加积分系数Ki
    
 set_param([modelName '/PID_Controller'], 'D', '0.02'); % 增加微分系数Kd
    
  
    
 % 重新运行仿真
    
 sim(modelName);

 % 添加前馈控制模块

    
 add_block('simulink/User-Defined Functions/MATLAB Function', [modelName '/Feedforward_Controller']);
    
  
    
 % 编写MATLAB Function代码
    
 function feedforwardSignal = fcn(predictedLateralError)
    
     feedforwardSignal = calculateFeedforward(predictedLateralError); % 自定义函数计算前馈控制信号
    
 end

 % 使用模型预测控制（MPC）

    
 add_block('simulink/Control System Toolbox/Model Predictive Control Toolbox/MPC Controller', [modelName '/MPC_Controller']);